CN114148554A - Combined three-dimensional microgravity simulation system suitable for satellite ground simulation - Google Patents
Combined three-dimensional microgravity simulation system suitable for satellite ground simulation Download PDFInfo
- Publication number
- CN114148554A CN114148554A CN202210123592.0A CN202210123592A CN114148554A CN 114148554 A CN114148554 A CN 114148554A CN 202210123592 A CN202210123592 A CN 202210123592A CN 114148554 A CN114148554 A CN 114148554A
- Authority
- CN
- China
- Prior art keywords
- air
- cylinder
- vertical
- simulation
- aircraft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 114
- 230000005486 microgravity Effects 0.000 title claims abstract description 63
- 239000000725 suspension Substances 0.000 claims abstract description 68
- 230000005484 gravity Effects 0.000 claims abstract description 16
- 230000001105 regulatory effect Effects 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 18
- 230000001276 controlling effect Effects 0.000 claims description 10
- 230000011218 segmentation Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 8
- 238000005094 computer simulation Methods 0.000 description 6
- 238000013016 damping Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000007667 floating Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 238000009423 ventilation Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005188 flotation Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 239000004579 marble Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The application relates to the technical field of microgravity simulation, and discloses a combined three-dimensional microgravity simulation system suitable for satellite ground simulation, which comprises a vertical air floatation microgravity simulation unit, a suspension microgravity simulation unit and a smooth platform; the vertical air floatation microgravity simulation unit comprises a vertical air cylinder, the vertical air cylinder is suspended above the smooth platform through a horizontal air foot, and part of gravity of the simulation aircraft fixed on the top of the vertical air cylinder is balanced by adjusting air pressure in the vertical air cylinder; the hanging microgravity simulation unit comprises a two-dimensional moving platform, a suspension wire, a Z-axis servo motor, a tension sensor, a positioning device and a first controller, wherein the Z-axis servo motor is connected with the simulation aircraft through the suspension wire, the first controller controls the two-dimensional moving platform to move along with the simulation aircraft according to the position of the simulation aircraft measured by the positioning device, and the Z-axis servo motor is controlled to retract or release the suspension wire according to the tension of the suspension wire measured by the tension sensor so as to balance part of gravity of the simulation aircraft.
Description
Technical Field
The application relates to the technical field of microgravity simulation, in particular to a combined three-dimensional microgravity simulation system suitable for satellite ground simulation.
Background
The ground microgravity simulation is a new research field appearing along with the development of aerospace technology, and quickly becomes one of important technologies concerned by spatial major countries such as the United states, Japan, Canada and the like, compared with digital simulation and theoretical evaluation, the test data obtained by the microgravity simulation has stronger authenticity and reliability and has irreplaceable advantages. In order to ensure the reliability of the on-orbit operation of the spacecraft, the microgravity ground simulation test is an indispensable work. Although the existing air floatation method can realize the gravity compensation or frictionless relative motion condition to simulate the mechanical environment with small disturbed power in the outer space, the existing air floatation method lacks the degree of freedom in the vertical direction, is difficult to realize the microgravity simulation in the vertical direction and is not suitable for the occasions of three-dimensional free motion of a load space. Although the suspension method realizes three-dimensional microgravity simulation, the suspension method can bear small load and cannot meet the requirement of large load, and the friction force borne by the rope during movement is large, so that the test precision is seriously influenced.
Disclosure of Invention
The embodiment of the application provides a three-dimensional microgravity analog system of combination formula suitable for satellite ground emulation, has can load capacity reinforce, advantages such as long, the tracking rapidity of dynamic simulation journey, simulation accuracy height, can adapt to the high-speed high maneuver simulation flight occasion of simulation aircraft, include:
the device comprises a vertical air floatation microgravity simulation unit, a suspension microgravity simulation unit and a smooth platform;
the vertical air floatation microgravity simulation unit comprises a vertical air cylinder, the vertical air cylinder is suspended above the smooth platform through a horizontal air foot and moves in the horizontal direction, and part of gravity of the simulation aircraft fixed at the top of the vertical air cylinder is balanced by adjusting the air pressure in the vertical air cylinder;
the hanging microgravity simulation unit comprises a two-dimensional moving platform, a suspension wire, a Z-axis servo motor, a tension sensor, a positioning device and a first controller, wherein the two-dimensional moving platform is erected above the smooth platform and can move in the horizontal direction, the Z-axis servo motor arranged on the two-dimensional moving platform is connected with the simulated aircraft through the suspension wire, the positioning device is used for measuring the position of the simulated aircraft, and the tension sensor is used for measuring the tension of the suspension wire; the first controller is used for controlling the two-dimensional mobile platform to move along with the simulated aircraft according to the position of the simulated aircraft measured by the positioning device so as to enable the suspension wire to keep vertical, and controlling the Z-axis servo motor to retract or release the suspension wire according to the tension of the suspension wire measured by the tension sensor so as to balance a part of gravity of the simulated aircraft.
Optionally, the first controller is further configured to acquire the jet mass consumed by the simulated aircraft, and control the Z-axis servo motor to adjust the tension of the suspension wire according to the jet mass consumed by the simulated aircraft and the tension of the suspension wire.
Optionally, the first controller is further configured to:
acquiring the size of an air jet opening, air jet pressure and air jet thrust of the simulated aircraft, and determining the disturbance force borne by the simulated aircraft;
and according to the disturbance force applied to the simulated aircraft, the tension of the suspension wire is adjusted through the Z-axis servo motor so as to balance the disturbance force of the aircraft.
Optionally, the vertical air-flotation microgravity simulation unit further includes a grating ruler for measuring the height of the vertical cylinder in the vertical direction.
Optionally, the first controller is further configured to:
when the vertical cylinder is detected to be exhausted outwards, determining the air floatation disturbance force currently borne by the vertical cylinder based on the height of the vertical cylinder in the vertical direction measured by the grating ruler and a corresponding relation table of the height of the vertical cylinder measured in advance and the air floatation disturbance force;
and according to the currently received air floatation disturbance force, the pulling force of the suspension wire is adjusted through the Z-axis servo motor so as to balance the currently received air floatation disturbance force of the vertical cylinder.
Optionally, the vertical cylinder comprises a cylinder, an electromagnetic regulating valve, a high-pressure gas cylinder, a vent pipe, a pressure sensor and a second controller;
the air outlet of the high-pressure air bottle is communicated with the air inlet of the air cylinder through the vent pipeline, and the air outlet and the air inlet of the air cylinder are respectively provided with an electromagnetic regulating valve;
the pressure sensor is used for measuring the pressure in the cylinder;
the second controller is used for controlling the opening and closing of the electromagnetic regulating valve according to the motion state of the simulated aircraft and the pressure measured by the pressure sensor so as to increase or decrease the gas in the cylinder.
Optionally, the electromagnetic regulating valve comprises a coarse regulating valve and a fine regulating valve;
the second controller is specifically configured to: determining the air inflow or air outflow of the cylinder according to the motion state of the simulated aircraft and the pressure measured by the pressure sensor; and if the air inflow or the air outflow is larger than a preset threshold value, adjusting the gas quantity in the cylinder through a coarse adjusting valve, otherwise, adjusting the gas quantity in the cylinder through a fine adjusting valve.
Optionally, the second controller is specifically configured to: and determining the air inflow or air outflow of the air cylinder by adopting a double-valve segmentation Schmidz prediction control algorithm according to the motion state of the simulated aircraft and the pressure measured by the pressure sensor.
Optionally, the second controller is further configured to: and acquiring the jet mass consumed by the simulated aircraft, and adjusting the gas amount in the cylinder according to the jet mass consumed by the simulated aircraft.
Optionally, the suspended microgravity simulation unit further comprises an X-axis linear slide rail, a Y-axis linear slide rail, an X-axis servo motor and a Y-axis servo motor;
the smooth platform is provided with a support frame, parallel arrangement's X axle linear slide rail is installed to the support frame both sides, installs parallel arrangement's Y axle linear slide rail between the X axle linear slide rail, removes along X axle linear slide rail through X axle servo motor drive Y axle linear slide rail, two-dimensional moving platform installs between Y axle linear slide rail, through Y axle servo motor drive two-dimensional moving platform removes along Y axle linear slide rail.
The combined three-dimensional microgravity simulation system suitable for satellite ground simulation provided by the embodiment of the application balances a part of gravity of a simulation aircraft through the vertical air floatation microgravity simulation unit, balances the other part of gravity of the simulation aircraft through the suspended microgravity simulation unit, realizes three-dimensional microgravity simulation, and improves the load capacity of the whole system in a suspended air floatation combination mode so as to meet the requirement of heavy load. In addition, the simulation aircraft is quickly tracked based on the positioning device, and the Z-axis servo motor and the tension sensor are combined to ensure that the suspension wire moves along with the simulation aircraft and adjust the tension of the suspension wire in real time, so that the interference caused by the suspension wire is reduced, and the simulation precision is improved. Therefore, the combined three-dimensional microgravity simulation system suitable for satellite ground simulation provided by the embodiment of the application has the advantages of strong loading capacity, long dynamic simulation stroke, high tracking rapidity, high simulation precision and the like, and can be suitable for high-speed and high-mobility simulation flight occasions of simulated aircrafts.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a combined three-dimensional microgravity simulation system suitable for satellite ground simulation according to an embodiment of the present disclosure.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
It should be noted that, in the case of no conflict, the features in the following embodiments and examples may be combined with each other; moreover, based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without any creative effort belong to the protection scope of the present application.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
For convenience of understanding, terms referred to in the embodiments of the present application are explained below:
a grating ruler: the grating ruler displacement sensor is a measurement feedback device which works by utilizing the optical principle of a grating. The grating ruler displacement sensor is often applied to a closed loop servo system of a numerical control machine tool, can be used for detecting linear displacement or angular displacement, and has the characteristics of large detection range, high detection precision and high response speed, and signals output by measurement are digital pulses.
The Schmidt prediction control algorithm: the pure lag compensation model is provided by Schmitt (Smith), and the kernel of the algorithm is that a Smith predictor is added in a control loop and is connected with a conventional controller D(s) in parallel to form a pure lag compensation controller together, so that the time lag of a control object can be completely compensated.
Any number of elements in the drawings are by way of example and not by way of limitation, and any nomenclature is used solely for differentiation and not by way of limitation.
To further illustrate the technical solutions provided by the embodiments of the present application, the following detailed description is made with reference to the accompanying drawings and the detailed description.
Referring to fig. 1, an embodiment of the present application provides a combined three-dimensional microgravity simulation system suitable for satellite ground simulation, including: a vertical air-floatation microgravity simulation unit, a suspension microgravity simulation unit, a horizontal two-dimensional microgravity simulation unit and a smooth platform 12. The vertical air-floatation microgravity simulation unit comprises a vertical air cylinder 9, the horizontal two-dimensional microgravity simulation unit comprises a horizontal air foot 11, and the suspension microgravity simulation unit comprises a two-dimensional moving platform 14, a suspension wire 7, a Z-axis servo motor 3, a tension sensor 8, a positioning device 6 and a first controller. The first controller is mounted on the two-dimensional moving platform 14 and moves together with the two-dimensional moving platform 14. The smooth platform 12 may be a marble platform.
The vertical cylinder 9 is used for supporting a simulated aircraft 10, and the simulated aircraft 10 can be fixed on the top of the vertical cylinder 9. The vertical cylinder 9 can change the supporting force provided by the vertical cylinder 9 to the simulated aircraft 10 by adjusting the gas pressure inside the vertical cylinder 9, so that part of the gravity of the simulated aircraft 10 is balanced to simulate the weightless state of the aircraft 10 in space outside.
The horizontal two-dimensional microgravity simulation unit adopts an air floatation method, and realizes plane two-dimensional microgravity simulation by utilizing a horizontal air foot and a smooth platform. The horizontal air foot 11 is arranged at the bottom of the vertical air cylinder 9, and after ventilation, the horizontal air foot 11 can spray stable air flow downwards, so that a layer of air film is formed between the horizontal air foot 11 and the smooth platform 12, the vertical air cylinder 9 is suspended above the smooth platform 12, the friction force in the horizontal movement process is reduced, and the micro-friction environment in the outer space weightless state is simulated. Meanwhile, the horizontal air foot 11 can spray air to the periphery as required, so that the vertical air cylinder 9 is driven to move in the horizontal direction. In specific implementation, the structure of the horizontal air foot 11 meeting the requirements can be designed aiming at the load quality of the horizontal air foot 11 by combining related experimental data, theoretical formulas and experience, and the design parameters comprise: radius of the gas foot, number of orifices on the gas foot, diameter of the orifice, thickness of the gas film, etc. The horizontal air foot 11 may be provided with a separate air supply arrangement or air supply equipment of the vertical air cylinder 9 may be used.
The two-dimensional moving platform 14 is mounted above the smoothing platform 12, and the two-dimensional moving platform 14 can move in the horizontal direction. Taking fig. 1 as an example, a support frame 13 is arranged on a smooth platform 12, two X-axis linear slide rails 4 arranged in parallel are mounted on two sides of the support frame 13, Y-axis linear slide rails 5 arranged in parallel are mounted between the X-axis linear slide rails 4, a two-dimensional moving platform 14 is mounted between the two Y-axis linear slide rails 5, the two-dimensional moving platform 14 can be driven by a Y-axis servo motor 1 to move along the Y-axis linear slide rails 5, the Y-axis linear slide rails 5 can be driven by an X-axis servo motor 2 to move along the X-axis linear slide rails 4, and therefore the movement of the two-dimensional moving platform 14 in the horizontal direction is achieved.
The Z-axis servo motor 3 can be arranged on the two-dimensional moving platform 15, one end of the suspension wire 7 is connected with the Z-axis servo motor 3, the other end of the suspension wire 7 is connected with the simulation aircraft 10, and the suspension wire 7 can be controlled to be retracted or released through the Z-axis servo motor 3, so that upward certain pulling force is applied to the simulation aircraft 10 to balance part of gravity of the simulation aircraft 10.
The positioning device 6 is used to measure the position of the simulated aircraft 10, and the positioning device 6 may be an image acquisition arrangement, such as a monocular industrial camera. The positioning device 6 may be mounted on the two-dimensional moving platform 14, move with the two-dimensional moving platform 14, or be fixed in other places where the position of the simulated aircraft 10 can be observed, which is not limited in this application.
A tension sensor 8 may be mounted on the suspension wire 7 for measuring the tension of the suspension wire 7.
The first controller is used for controlling the two-dimensional mobile platform 14 to move along with the simulated aircraft 10 according to the position of the simulated aircraft 10 measured by the positioning device 6, so that the suspension wire 7 is always in a vertical state in the motion process of the simulated aircraft 10, and the suspension wire 7 is prevented from applying a force in the horizontal direction to the simulated aircraft 10. The first controller is also used for controlling the Z-axis servo motor 3 to retract or release the suspension wire 7 according to the tension of the suspension wire 7 measured by the tension sensor 8 so as to balance a part of gravity of the simulated aircraft 10.
In specific implementation, the load-bearing proportion can be allocated to the vertical air-floating microgravity simulation unit and the suspended microgravity simulation unit in advance, for example, the vertical air-floating microgravity simulation unit bears 70% of the weight of the simulated aircraft, the suspended microgravity simulation unit bears 30% of the weight of the simulated aircraft, the actual mass of the simulated aircraft is combined, the gravity which needs to be balanced respectively by the vertical air-floating microgravity simulation unit and the suspended microgravity simulation unit is determined, and then the internal pressure of the vertical cylinder and the pulling force which needs to be provided by the suspension wire are calculated respectively. It should be noted that the weight allocated to the suspended microgravity simulation unit cannot exceed the maximum tensile force that the suspension wire can bear, and likewise, the weight allocated to the suspended microgravity simulation unit cannot exceed the maximum bearing capacity of the vertical cylinder.
The combined three-dimensional microgravity simulation system suitable for satellite ground simulation provided by the embodiment of the application balances a part of gravity of a simulation aircraft through the vertical air floatation microgravity simulation unit, balances the other part of gravity of the simulation aircraft through the suspended microgravity simulation unit, realizes three-dimensional microgravity simulation, and improves the load capacity of the whole system in a suspended air floatation combination mode so as to meet the requirement of heavy load. In addition, the simulation aircraft is quickly tracked based on the positioning device, and the Z-axis servo motor and the tension sensor are combined to ensure that the suspension wire moves along with the simulation aircraft and adjust the tension of the suspension wire in real time, so that the interference caused by the suspension wire is reduced, and the simulation precision is improved. Therefore, the combined three-dimensional microgravity simulation system suitable for satellite ground simulation provided by the embodiment of the application has the advantages of strong loading capacity, long dynamic simulation stroke, high tracking rapidity, high simulation precision and the like, and can be suitable for high-speed and high-mobility simulation flight occasions of simulated aircrafts.
During specific implementation, the vertical cylinder comprises a cylinder, an electromagnetic regulating valve, a high-pressure gas cylinder, a ventilation pipeline, a pressure sensor and a second controller. The air outlet of the high-pressure air bottle is communicated with the air inlet of the air cylinder through an air duct, and the high-pressure air bottle can inflate the air cylinder through the air duct. Electromagnetic adjusting valve is installed respectively to the gas outlet and the air inlet of cylinder, will set up in this application and call into air inlet solenoid valve at cylinder air inlet electromagnetic adjusting valve, will set up and call into air outlet solenoid valve at cylinder gas outlet electromagnetic adjusting valve, through the switching of control air inlet solenoid valve and air outlet solenoid valve for the cylinder aerifys or exhausts, and then changes the cylinder internal pressure, thereby the adjustment supports the holding power of simulation aircraft. When the air inlet electromagnetic valve is opened, the high-pressure air bottle is used for filling air into an air cavity of the air cylinder, the pressure in the air cavity is increased, and the piston of the air cylinder is caused to move upwards, so that a larger supporting force is provided for simulating an aircraft; when the air outlet electromagnetic valve is opened, the pressure in the air cavity of the air cylinder is reduced by the air exhaust device outside the air cylinder, so that the piston of the air cylinder moves upwards, and the supporting force provided by the supporting simulation aircraft is reduced.
In particular implementations, a pressure sensor may be disposed within the cylinder for measuring pressure within the cylinder. In order to improve the measurement accuracy of the pressure intensity, pressure sensors can be respectively arranged at a plurality of different positions in the cylinder, and the pressure intensity in the air cavity of the cylinder can be more accurately measured according to the measurement fingers of the pressure sensors.
The second controller can control the opening and closing of the electromagnetic regulating valve (comprising the air inlet electromagnetic valve and the air outlet electromagnetic valve) according to the motion state of the simulated aircraft and the pressure measured by the pressure sensor so as to increase or decrease the gas in the cylinder. Through the opening and closing of the electromagnetic regulating valve, the constant pressure control of the air cylinder can be realized in the dynamic simulation process, and the simulation precision is improved. For example, when the simulated aircraft moves upwards, the air inlet electromagnetic valve needs to be opened, so that the cylinder piston moves upwards to follow the simulated aircraft to move upwards, and a continuous and stable supporting force is provided for the simulated aircraft; when the simulated aircraft moves downwards, the air outlet electromagnetic valve needs to be opened, so that the cylinder piston moves downwards to follow the simulated aircraft to move downwards, and continuous and stable supporting force is provided for the simulated aircraft; when the pressure in the cylinder is too high, the air outlet electromagnetic valve needs to be opened for exhausting, and when the pressure in the cylinder is too low, the air inlet electromagnetic valve needs to be opened for charging.
The following specifically describes a constant pressure control mode of the air cavity in the cylinder by the second controller in the dynamic simulation process.
First, the pressure of the air chamber in the cylinder can be expressed as:
wherein,
is the differential of the air cavity pressure;
is the specific heat ratio, is an important parameter for describing the thermodynamic properties of the gas, and is related to the temperature, usually 1.4 for air;
is an ideal gas constant;
is the initial temperature; is the initial volume;
mass differential in the air cavity;
is the initial pressure in the air cavity;
is the air cavity volume differential.
The gas mass change rate in the gas cavity is controlled by an electromagnetic regulating valve:
wherein,
gain of the electromagnetic regulating valve;
is the pressure indicated by the electromagnetic regulating valve voltage instruction;
is the air cavity pressure.
The dynamic equation of the cylinder is as follows:
wherein,
to simulate aircraft mass;
mass of a piston rod of the air cylinder;
to simulate aircraft acceleration;
coulomb friction;
is the pressure of the air cavity;
the cross section area of the piston of the cylinder is shown;
is at standard atmospheric pressure;
the cross section area of the piston rod outside the air cavity.
The mathematical description of the vent line is:
wherein,
the mass flow rate of the gas at the other end of the vent pipe;
is the length of the vent line;
is time;
，
is the air dynamic viscosity, D is the pipe diameter; t is the temperature; p is the pressure of the vent pipe; c is the speed of sound;
is the gas mass flow rate at one end of the vent line.
According to the knowledge of the control theory, a state space equation with the control voltage input as the electromagnetic regulating valve and the output as the air cavity pressure or the vertical displacement of the air cylinder piston can be obtained:
wherein,
system state 1;
system state 2;
system state 3;
to simulate aircraft displacement;
to simulate aircraft speed;
is the pressure in the air cavity.
By substituting the reduced arrangement of equations (1), (2), (3) and (4) into equation (5), one can obtain:
wherein,
to simulate aircraft speed;
is at standard atmospheric pressure;
is the differential of the pressure in the air cavity; is a natural logarithm;
，
is the air dynamic viscosity, D is the pipe diameter;
is the control quantity of the second controller. Wherein the control amount of the second controller may be: a quantity having a linear relationship with the pressure of the air chamber and the displacement of the cylinder piston for controlling the pressure in the air chamber and thereby the displacement of the cylinder piston.
Further, the electromagnetic regulating valve may include a coarse regulating valve and a fine regulating valve. The second controller is specifically configured to: determining the air inflow or air outflow of the air cylinder according to the motion state of the simulated aircraft and the pressure measured by the pressure sensor; and if the air inflow or the air outflow is larger than a preset threshold value, adjusting the gas quantity in the cylinder through a coarse adjusting valve, otherwise, adjusting the gas quantity in the cylinder through a fine adjusting valve. The preset threshold value can be determined according to the adjusting precision of the coarse adjusting valve and the fine adjusting valve, and the value of the preset threshold value is not limited in the application.
For example, when the air intake quantity of the cylinder is larger than a preset threshold value, the rough air inlet electromagnetic valve can be opened to charge air into the cylinder in a large quantity at a high speed; when the air inflow of the air cylinder is not larger than the preset threshold value, the fine air inlet electromagnetic valve can be opened, and the high-precision control of the air charging quantity is realized. When the air output of the air cylinder is greater than a preset threshold value, a rough air output electromagnetic valve can be opened to exhaust air to the outside at high speed; when the air output of the cylinder is not more than the preset threshold value, the fine air outlet electromagnetic valve can be opened, and the air output can be controlled with high precision. Generally, in the process of vertical floating of the simulation aircraft, the air inflow or the air storage capacity is large, the pressure in the air cylinder can be adjusted through the coarse adjusting valve at the moment, and in the process of fine adjustment of the vertical position of the simulation aircraft, the pressure in the air cylinder can be controlled through the fine adjusting valve with high precision.
Further, the second controller is specifically configured to: and determining the air inflow or air outflow of the air cylinder by adopting a double-valve segmented Schmids prediction control algorithm according to the motion state of the simulated aircraft and the pressure measured by the pressure sensor. The double-valve segmented Smith predictive control algorithm is adopted, the influence of delay caused by the adjustment of the electromagnetic valve and the ventilation pipeline is solved, the strategy can bring advanced action of control output without time delay, and the control process is accelerated.
Further, the second controller is further configured to: and acquiring the jet mass consumed by the simulated aircraft, and adjusting the gas amount in the cylinder according to the jet mass consumed by the simulated aircraft. And (3) determining the mass of the simulated aircraft required to be substituted into the formula (6) according to the initial weight of the simulated aircraft and the consumed jet mass by combining a constant pressure control mode of the second controller so as to calculate the real-time control quantity.
During specific implementation, the jet mass consumed by the simulated aircraft can be directly acquired from monitoring data provided by the simulated aircraft, or the jet mass consumed by the simulated aircraft can be calculated according to parameters such as jet orifice size, jet pressure, jet thrust and the like of the simulated aircraft, or a weighing device is installed at the bottom of the simulated aircraft to collect the real-time weight of the simulated aircraft.
On the basis of any one of the above embodiments, a monocular industrial camera is used for carrying out plane two-dimensional position measurement on the simulated aircraft, and the first controller controls the X-axis servo motor and the Y-axis servo motor based on two-dimensional position data of the simulated aircraft, so that the two-dimensional moving platform follows the horizontal two-dimensional motion of the simulated aircraft. Meanwhile, the first controller is also used for acquiring the air injection mass consumed by the simulated aircraft, and controlling the Z-axis servo motor to adjust the tension of the suspension wire according to the air injection mass consumed by the simulated aircraft and the tension of the suspension wire.
The control mode of the first controller to the two-dimensional moving platform and the Z-axis servo motor in the dynamic simulation process is described below.
First, the mathematical description of the motion of a two-dimensional mobile platform in a horizontal plane is:
wherein,
equivalent translation mass of the two-dimensional moving platform along the X axial direction;
mass of the suspension;
acceleration of the two-dimensional moving platform along the X axial direction;
the damping coefficient of the two-dimensional moving platform along the X axial direction is obtained;
the speed of the two-dimensional moving platform along the X axial direction;
angular acceleration of (a);
the two-dimensional moving platform is driven by a motor along the X axial direction;
equivalent translation mass of the two-dimensional moving platform along the Y axis;
acceleration of the two-dimensional moving platform along the Y axial direction;
the damping coefficient of the two-dimensional moving platform along the Y-axis direction is obtained;
the speed of the two-dimensional moving platform along the Y axial direction;
is the length of the suspension wire;
angular acceleration of (a);
the two-dimensional moving platform is driven by a motor along the Y-axis direction; i is the equivalent rotational inertia of the Z-axis servo motor around the axis;
the line take-up acceleration (second order differential of the length of the suspension line) of the suspension line is obtained;
is a rim
A directional damping coefficient;
to hang inLine take-up speed (differential of the length of the suspension line); g is the acceleration of gravity;
is the suspension wire tension;
the equivalent damping coefficient in the suspension swing is obtained;
the angular velocity of (a); a
The Euler angle is the spatial swing position of the suspension wire;
is angular velocity;
in order to simulate the aircraft to be subjected to other external forces along the X axis;
to simulate the aircraft experiencing other external forces along the Y-axis.
Horizontal two-dimensional motion is decoupled in the vertical and horizontal directions, and meanwhile, the two directions of the X axis and the Y axis are symmetrical, so that the two-dimensional following mathematical description can be obtained as follows:
wherein M is the equivalent translation mass of the two-dimensional moving platform along the X axial direction or the Y axial direction; c is the damping coefficient of the two-dimensional moving platform along the X axial direction or the Y axial direction;
is the length of the suspension wire; f is motor driving force applied to the two-dimensional moving platform along the X axial direction or the Y axial direction;
the angular velocity of (a);
the Euler angle is the spatial swing position of the suspension wire;
in order to simulate that the aircraft is subjected to other external forces along the X-axis or the Y-axis.
The mathematical description of vertical catenary tension is:
wherein, R is the radius of the winding drum of the Z-axis motor.
Based on the formulas (7) - (9) and related parameters, including equivalent translational mass acceleration, damping coefficient, speed, suspended object mass, suspension length, equivalent rotational inertia of the Z-axis servo motor around the axis and the like of the two-dimensional moving platform along the X axis and the Y axis, the motor driving force applied to the two-dimensional moving platform along the X axis and the Y axis, other external forces applied to the simulated aircraft along the X axis and the Y axis, and the suspension tension are calculated, and then the two-dimensional moving platform and the axis servo motor are controlled.
The combined three-dimensional microgravity simulation system suitable for satellite ground simulation provided by the embodiment of the application can adjust the air cylinder pressure or the suspension wire tension according to the air injection quality consumed by a simulation aircraft, so that the problem of the mass change of the simulation aircraft in the simulation process can be solved, the three-dimensional microgravity simulation environment of the variable-mass simulation aircraft can be provided in real time, and the combined three-dimensional microgravity simulation system has the advantages of wide application range and strong practicability compared with the traditional constant-force ground microgravity simulation.
On the basis of any one of the above embodiments, the vertical air-flotation microgravity simulation unit further comprises a grating ruler, and the grating ruler is used for measuring the height of the vertical cylinder in the vertical direction. The real-time height of the vertical cylinder in the vertical direction can be accurately obtained based on the grating ruler, so that the vertical cylinder and the suspension line can be better controlled, and the problem of difficulty in setting of the vertical microgravity simulation initial state is solved.
In the actual simulation process, the vertical cylinder exhaust pipeline can interfere the system, the length of the pipeline is increased along with the rising of the vertical cylinder, and pipelines with different lengths can bring different disturbances. In order to deal with the interference, the air floatation disturbance force caused by outward exhaust of the vertical air cylinder when the vertical air cylinder moves to different heights can be measured in advance, and then a corresponding relation table of the height of the vertical air cylinder and the air floatation disturbance force is obtained. When the vertical cylinder is exhausting outward, the second controller may send a related signal to the first controller to inform the first controller that the vertical cylinder is exhausting outward. The first controller is further configured to: when the vertical cylinder is detected to be exhausted outwards, determining the air floatation disturbing force currently borne by the vertical cylinder based on the height of the vertical cylinder in the vertical direction measured by the grating ruler and a corresponding relation table of the height of the vertical cylinder measured in advance and the air floatation disturbing force; according to the currently received air floatation disturbing force, the tension of the suspension wire is adjusted through the Z-axis servo motor so as to balance the currently received air floatation disturbing force of the vertical cylinder. By means of the method, disturbance caused by outward exhaust of the vertical cylinder can be compensated, and system simulation precision is improved.
The simulated aircraft also generates certain disturbance to the system when spraying air outwards, and for this reason, the first controller is also used for: determining disturbance force borne by the simulated aircraft according to data such as the size of an air jet opening, air jet pressure, air jet thrust and the like of the simulated aircraft; according to the disturbance force applied to the simulated aircraft, the tension of the suspension wire is adjusted through the Z-axis servo motor so as to balance the disturbance force of the simulated aircraft. By the mode, disturbance caused by outward exhaust of the simulated aircraft can be compensated, and the simulation precision of the system is improved.
During specific implementation, the first controller can calculate the disturbance force of the simulated aircraft in the vertical direction, and the tension of the suspension wire is adjusted through the Z-axis servo motor so as to balance the disturbance force of the simulated aircraft in the vertical direction. The air outlet direction of the air outlet hole of the simulated aircraft is vertical, and the disturbance force applied to the simulated aircraft acts in the vertical direction; if the air outlet hole of the simulated aircraft has a certain angle with the vertical direction, the disturbance force applied to the simulated aircraft in the vertical direction can be calculated according to the angle.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A combined three-dimensional microgravity simulation system suitable for satellite ground simulation, comprising: the device comprises a vertical air floatation microgravity simulation unit, a suspension microgravity simulation unit and a smooth platform;
the vertical air floatation microgravity simulation unit comprises a vertical air cylinder, the vertical air cylinder is suspended above the smooth platform through a horizontal air foot and moves in the horizontal direction, and part of gravity of the simulation aircraft fixed at the top of the vertical air cylinder is balanced by adjusting the air pressure in the vertical air cylinder;
the hanging microgravity simulation unit comprises a two-dimensional moving platform, a suspension wire, a Z-axis servo motor, a tension sensor, a positioning device and a first controller, wherein the two-dimensional moving platform is erected above the smooth platform and can move in the horizontal direction, the Z-axis servo motor arranged on the two-dimensional moving platform is connected with the simulated aircraft through the suspension wire, the positioning device is used for measuring the position of the simulated aircraft, and the tension sensor is used for measuring the tension of the suspension wire; the first controller is used for controlling the two-dimensional mobile platform to move along with the simulated aircraft according to the position of the simulated aircraft measured by the positioning device so as to enable the suspension wire to keep vertical, and controlling the Z-axis servo motor to retract or release the suspension wire according to the tension of the suspension wire measured by the tension sensor so as to balance a part of gravity of the simulated aircraft.
2. The system of claim 1, wherein the first controller is further configured to obtain a mass of the jet air consumed by the simulated aircraft, and control the Z-axis servo motor to adjust the tension of the suspension wire according to the mass of the jet air consumed by the simulated aircraft and the tension of the suspension wire.
3. The system of claim 1, wherein the first controller is further configured to:
acquiring the size of an air jet opening, air jet pressure and air jet thrust of the simulated aircraft, and determining the disturbance force borne by the simulated aircraft;
and according to the disturbance force applied to the simulated aircraft, the tension of the suspension wire is adjusted through the Z-axis servo motor so as to balance the disturbance force of the aircraft.
4. The system of claim 1, wherein the vertical air-floatation microgravity simulation unit further comprises a grating ruler for measuring the height of the vertical cylinder in the vertical direction.
5. The system of claim 4, wherein the first controller is further configured to:
when the vertical cylinder is detected to be exhausted outwards, determining the air floatation disturbance force currently borne by the vertical cylinder based on the height of the vertical cylinder in the vertical direction measured by the grating ruler and a corresponding relation table of the height of the vertical cylinder measured in advance and the air floatation disturbance force;
and according to the currently received air floatation disturbance force, the pulling force of the suspension wire is adjusted through the Z-axis servo motor so as to balance the currently received air floatation disturbance force of the vertical cylinder.
6. The system of any one of claims 1 to 5, wherein the vertical gas cylinder comprises a gas cylinder, an electromagnetic regulating valve, a high pressure gas cylinder, a vent pipe, a pressure sensor, and a second controller;
the air outlet of the high-pressure air bottle is communicated with the air inlet of the air cylinder through the vent pipeline, and the air outlet and the air inlet of the air cylinder are respectively provided with an electromagnetic regulating valve;
the pressure sensor is used for measuring the pressure in the cylinder;
the second controller is used for controlling the opening and closing of the electromagnetic regulating valve according to the motion state of the simulated aircraft and the pressure measured by the pressure sensor so as to increase or decrease the gas in the cylinder.
7. The system of claim 6, wherein the solenoid regulated valve comprises a coarse regulator valve and a fine regulator valve;
the second controller is specifically configured to: determining the air inflow or air outflow of the cylinder according to the motion state of the simulated aircraft and the pressure measured by the pressure sensor; and if the air inflow or the air outflow is larger than a preset threshold value, adjusting the gas quantity in the cylinder through a coarse adjusting valve, otherwise, adjusting the gas quantity in the cylinder through a fine adjusting valve.
8. The system of claim 7, wherein the second controller is specifically configured to: and determining the air inflow or air outflow of the air cylinder by adopting a double-valve segmentation Schmidz prediction control algorithm according to the motion state of the simulated aircraft and the pressure measured by the pressure sensor.
9. The system of claim 6, wherein the second controller is further configured to: and acquiring the jet mass consumed by the simulated aircraft, and adjusting the gas amount in the cylinder according to the jet mass consumed by the simulated aircraft.
10. The system of any one of claims 1 to 5, wherein the suspended microgravity simulation unit further comprises an X-axis linear slide, a Y-axis linear slide, an X-axis servomotor, and a Y-axis servomotor;
the smooth platform is provided with a support frame, parallel arrangement's X axle linear slide rail is installed to the support frame both sides, installs parallel arrangement's Y axle linear slide rail between the X axle linear slide rail, removes along X axle linear slide rail through X axle servo motor drive Y axle linear slide rail, two-dimensional moving platform installs between Y axle linear slide rail, through Y axle servo motor drive two-dimensional moving platform removes along Y axle linear slide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210123592.0A CN114148554B (en) | 2022-02-10 | 2022-02-10 | Combined three-dimensional microgravity simulation system suitable for satellite ground simulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210123592.0A CN114148554B (en) | 2022-02-10 | 2022-02-10 | Combined three-dimensional microgravity simulation system suitable for satellite ground simulation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114148554A true CN114148554A (en) | 2022-03-08 |
| CN114148554B CN114148554B (en) | 2022-04-15 |
Family
ID=80450248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210123592.0A Active CN114148554B (en) | 2022-02-10 | 2022-02-10 | Combined three-dimensional microgravity simulation system suitable for satellite ground simulation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114148554B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116062197A (en) * | 2023-03-06 | 2023-05-05 | 哈尔滨工业大学 | Gravity unloading and distance phase simulation device and method in rope net dragging ground test |
| CN116767519A (en) * | 2023-06-18 | 2023-09-19 | 哈尔滨理工大学 | Magnetic gravity balance spaceflight simulator docking test device |
| WO2024071577A1 (en) * | 2022-09-27 | 2024-04-04 | 한국항공우주연구원 | Lunar gravity simulation system for performance testing of lander |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3597857A (en) * | 1968-03-04 | 1971-08-10 | Redifon Ltd | Ground based flight simulating apparatus |
| US5110294A (en) * | 1989-09-22 | 1992-05-05 | Deutsche Forschungsanstalt Fur Luft -Und Raumfahrt E.V. | Device for ground-based simulation of operations of a manipulator usable in space by means of a model of a space vehicle |
| US5379657A (en) * | 1992-06-22 | 1995-01-10 | Timothy K. Hasselman | Microgravity suspension system for simulating a weightless environment |
| US6412360B1 (en) * | 1999-09-28 | 2002-07-02 | Barry F. Hebert | Spacecraft test system |
| CN101596940A (en) * | 2009-07-13 | 2009-12-09 | 葛升民 | Ground simulation test device for space vehicle |
| CN102650563A (en) * | 2011-12-20 | 2012-08-29 | 北京卫星环境工程研究所 | Ground testing system for on-track micro vibration of spacecraft |
| CN103466109A (en) * | 2013-09-05 | 2013-12-25 | 哈尔滨工业大学 | Space microgravity environment ground simulation experiment device |
| CN103482089A (en) * | 2013-10-09 | 2014-01-01 | 北京航空航天大学 | Design method of unrestricted suspension type initiative gravity compensation system |
| US9194977B1 (en) * | 2013-07-26 | 2015-11-24 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Active response gravity offload and method |
| CN106005497A (en) * | 2016-06-13 | 2016-10-12 | 北京航空航天大学 | Suspension type six-degree-of-freedom micro-gravity environment simulating system |
| CN106081173A (en) * | 2016-07-19 | 2016-11-09 | 哈尔滨工业大学 | Three-dimensional actively suspension spacecraft microgravity analog |
| CN107121931A (en) * | 2017-06-07 | 2017-09-01 | 北京航空航天大学 | Suspension type six degree of freedom microgravity environment simulation system TSM control method |
| CN107458630A (en) * | 2017-06-07 | 2017-12-12 | 北京航空航天大学 | Across the yardstick tracking of suspension type active gravity compensation system hangs point |
| US20180134419A1 (en) * | 2012-02-23 | 2018-05-17 | Huazhong University Of Science And Technology | Free-falling body verification device for drag-free spacecraft |
| CN109515769A (en) * | 2018-11-26 | 2019-03-26 | 哈尔滨工业大学 | More star suspension type microgravity simulation systems |
| CN111038748A (en) * | 2019-12-31 | 2020-04-21 | 哈尔滨工业大学 | Air supporting three-dimensional active moving gravity unloading device |
| CN111806734A (en) * | 2020-07-02 | 2020-10-23 | 中国人民解放军国防科技大学 | Gravity compensation system, spacecraft relative motion ground suspension experiment system and method |
| CN113848751A (en) * | 2021-09-22 | 2021-12-28 | 中山大学 | Ground simulation system of drag-free spacecraft |
| CN113928603A (en) * | 2021-09-13 | 2022-01-14 | 哈尔滨工业大学 | Six-degree-of-freedom space microgravity simulation device and control method |
-
2022
- 2022-02-10 CN CN202210123592.0A patent/CN114148554B/en active Active
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3597857A (en) * | 1968-03-04 | 1971-08-10 | Redifon Ltd | Ground based flight simulating apparatus |
| US5110294A (en) * | 1989-09-22 | 1992-05-05 | Deutsche Forschungsanstalt Fur Luft -Und Raumfahrt E.V. | Device for ground-based simulation of operations of a manipulator usable in space by means of a model of a space vehicle |
| US5379657A (en) * | 1992-06-22 | 1995-01-10 | Timothy K. Hasselman | Microgravity suspension system for simulating a weightless environment |
| US6412360B1 (en) * | 1999-09-28 | 2002-07-02 | Barry F. Hebert | Spacecraft test system |
| CN101596940A (en) * | 2009-07-13 | 2009-12-09 | 葛升民 | Ground simulation test device for space vehicle |
| CN102650563A (en) * | 2011-12-20 | 2012-08-29 | 北京卫星环境工程研究所 | Ground testing system for on-track micro vibration of spacecraft |
| US20180134419A1 (en) * | 2012-02-23 | 2018-05-17 | Huazhong University Of Science And Technology | Free-falling body verification device for drag-free spacecraft |
| US9194977B1 (en) * | 2013-07-26 | 2015-11-24 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Active response gravity offload and method |
| CN103466109A (en) * | 2013-09-05 | 2013-12-25 | 哈尔滨工业大学 | Space microgravity environment ground simulation experiment device |
| CN103482089A (en) * | 2013-10-09 | 2014-01-01 | 北京航空航天大学 | Design method of unrestricted suspension type initiative gravity compensation system |
| CN106005497A (en) * | 2016-06-13 | 2016-10-12 | 北京航空航天大学 | Suspension type six-degree-of-freedom micro-gravity environment simulating system |
| CN106081173A (en) * | 2016-07-19 | 2016-11-09 | 哈尔滨工业大学 | Three-dimensional actively suspension spacecraft microgravity analog |
| CN107121931A (en) * | 2017-06-07 | 2017-09-01 | 北京航空航天大学 | Suspension type six degree of freedom microgravity environment simulation system TSM control method |
| CN107458630A (en) * | 2017-06-07 | 2017-12-12 | 北京航空航天大学 | Across the yardstick tracking of suspension type active gravity compensation system hangs point |
| CN109515769A (en) * | 2018-11-26 | 2019-03-26 | 哈尔滨工业大学 | More star suspension type microgravity simulation systems |
| CN111038748A (en) * | 2019-12-31 | 2020-04-21 | 哈尔滨工业大学 | Air supporting three-dimensional active moving gravity unloading device |
| CN111806734A (en) * | 2020-07-02 | 2020-10-23 | 中国人民解放军国防科技大学 | Gravity compensation system, spacecraft relative motion ground suspension experiment system and method |
| CN113928603A (en) * | 2021-09-13 | 2022-01-14 | 哈尔滨工业大学 | Six-degree-of-freedom space microgravity simulation device and control method |
| CN113848751A (en) * | 2021-09-22 | 2021-12-28 | 中山大学 | Ground simulation system of drag-free spacecraft |
Non-Patent Citations (3)
| Title |
|---|
| 姜宏操: "空间飞行器三维微重力模拟技术", 《中国优秀硕士学位论文全文数据库工程科技II辑》 * |
| 王琛: "悬吊式重力补偿系统精度影响分析与实验", 《中国优秀硕士学位论文全文数据库工程科技II辑》 * |
| 齐乃明，孙康，王耀兵，刘延芳，霍明英，姚蔚然，高鹏: "航天器微低重力模拟及试验技术", 《宇航学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024071577A1 (en) * | 2022-09-27 | 2024-04-04 | 한국항공우주연구원 | Lunar gravity simulation system for performance testing of lander |
| CN116062197A (en) * | 2023-03-06 | 2023-05-05 | 哈尔滨工业大学 | Gravity unloading and distance phase simulation device and method in rope net dragging ground test |
| CN116767519A (en) * | 2023-06-18 | 2023-09-19 | 哈尔滨理工大学 | Magnetic gravity balance spaceflight simulator docking test device |
| CN116767519B (en) * | 2023-06-18 | 2024-02-09 | 哈尔滨理工大学 | Magnetic gravity balance spaceflight simulator docking test device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114148554B (en) | 2022-04-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114148554B (en) | Combined three-dimensional microgravity simulation system suitable for satellite ground simulation | |
| CN111099045B (en) | Full physical simulation method for double super satellite dynamics and control air floatation platform | |
| CN106932171B (en) | Cross-medium aircraft water inlet and outlet test system | |
| CN113928603B (en) | Six-degree-of-freedom space microgravity simulation device and control method | |
| CN112051027B (en) | Two-degree-of-freedom supporting device for supersonic wind tunnel model | |
| CN103063392B (en) | Ultra-low frequency modal test gravitational equilibrium system | |
| CN102539185B (en) | Selenographic gravity simulation system for ground traveling tests of exploration rover | |
| Han et al. | Gravity-off-loading system for large-displacement ground testing of spacecraft mechanisms | |
| CN208498816U (en) | A kind of micro- low-gravity simulation device | |
| CN203178051U (en) | Ultralow-frequency modal test gravitational equilibrium system | |
| CN114435635A (en) | Suspension air floatation combined three-dimensional microgravity simulation device and method | |
| CN104803015A (en) | High-lift air flotation high-precision gravitational unloading device | |
| CN113928605B (en) | Micro-low gravity environment simulation device and method for variable mass load | |
| CN108548541A (en) | A kind of air with opening altitude target in order to control enters method of guidance | |
| CN105823600A (en) | Dynamic balancing method for motion mechanism on three-axis air bearing table | |
| CN108408088A (en) | A kind of two-dimensional development zero-g simulator and method based on constant force spring | |
| Gatto et al. | Evaluation of a three degree of freedom test rig for stability derivative estimation | |
| RU2445599C1 (en) | Method for determining turning angle of thrust vector of hypersonic once-through air jet engine with chamfer cut of nozzle as per results of flight tests on hypersonic flying laboratory | |
| CN114572429B (en) | Universal rocket recovery rope system based on cam shape design | |
| CN116620576A (en) | Zero gravity environment simulation device and method capable of compensating additional mass inertia force | |
| CN105203545A (en) | Observation system and method of spray cooling liquid film pattern under unfavorable high overload | |
| CN118270256B (en) | Six-degree-of-freedom motion simulation system and simulation method for spacecraft on-orbit service | |
| RU2271971C1 (en) | Method of optimization of spacecraft angular motion control systems and device for realization of this method | |
| Garcon et al. | Recent developments in captive trajectory systems of the ONERA Modane wind tunnels | |
| Dress | Drag measurements on a modified prolate spheroid using a magnetic suspension and balance system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |